#include <Arduino_FreeRTOS.h>
#include <task.h>

#define A_PIN (2)
#define B_PIN (3)
#define NUM_TASKS (4)

const int LED_PINS [] ={6,7,8,9};
TaskHandle_t  taskHandles[NUM_TASKS];
volatile int8_t counter =(NUM_TASKS-1);

void rotaryEncoderISR(){
  int8_t step = digitalRead(B_PIN) ? 1: -1;
  counter =(NUM_TASKS + counter + step) % NUM_TASKS;
  
  


}

void task(void*param){
  uint8_t id =(uint8_t)param;
  pinMode(LED_PINS[id], OUTPUT);

  
  digitalWrite(LED_PINS[id], LOW);
  delay(1000);

  digitalWrite(LED_PINS[id], HIGH);
  delay(1000);
  
  
}


void setup() {
  Serial.begin(115200);
  // put your setup code here, to run once:
  pinMode(A_PIN, INPUT_PULLUP);  pinMode(B_PIN, INPUT_PULLUP);
  attachInterrupt(digitalPinToInterrupt(A_PIN),rotaryEncoderISR,FALLING);
  for(uint8_t i=0;i<NUM_TASKS;i++){
    xTaskCreate(task,"",96,(uint8_t)i,1,&taskHandles[i]);
    
  }

}

void loop() {
  // put your main code here, to run repeatedly:

}